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<h1 id="sec_name">
<span data-if="hdevelop" style="display:inline;">dual_quat_normalize</span><span data-if="c" style="display:none;">T_dual_quat_normalize</span><span data-if="cpp" style="display:none;">DualQuatNormalize</span><span data-if="dotnet" style="display:none;">DualQuatNormalize</span><span data-if="python" style="display:none;">dual_quat_normalize</span> (算子名称)</h1>
<h2>名称</h2>
<p><code><span data-if="hdevelop" style="display:inline;">dual_quat_normalize</span><span data-if="c" style="display:none;">T_dual_quat_normalize</span><span data-if="cpp" style="display:none;">DualQuatNormalize</span><span data-if="dotnet" style="display:none;">DualQuatNormalize</span><span data-if="python" style="display:none;">dual_quat_normalize</span></code> — Normalize a dual quaternion.</p>
<h2 id="sec_synopsis">参数签名</h2>
<div data-if="hdevelop" style="display:inline;">
<p>
<code><b>dual_quat_normalize</b>( :  : <a href="#DualQuaternion"><i>DualQuaternion</i></a> : <a href="#DualQuaternionNormalized"><i>DualQuaternionNormalized</i></a>)</code></p>
</div>
<div data-if="c" style="display:none;">
<p>
<code>Herror <b>T_dual_quat_normalize</b>(const Htuple <a href="#DualQuaternion"><i>DualQuaternion</i></a>, Htuple* <a href="#DualQuaternionNormalized"><i>DualQuaternionNormalized</i></a>)</code></p>
</div>
<div data-if="cpp" style="display:none;">
<p>
<code>void <b>DualQuatNormalize</b>(const HTuple&amp; <a href="#DualQuaternion"><i>DualQuaternion</i></a>, HTuple* <a href="#DualQuaternionNormalized"><i>DualQuaternionNormalized</i></a>)</code></p>
<p>
<code>static HDualQuaternionArray <a href="HDualQuaternion.html">HDualQuaternion</a>::<b>DualQuatNormalize</b>(const HDualQuaternionArray&amp; <a href="#DualQuaternion"><i>DualQuaternion</i></a>)</code></p>
<p>
<code><a href="HDualQuaternion.html">HDualQuaternion</a> <a href="HDualQuaternion.html">HDualQuaternion</a>::<b>DualQuatNormalize</b>() const</code></p>
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<p>
<code>static void <a href="HOperatorSet.html">HOperatorSet</a>.<b>DualQuatNormalize</b>(<a href="HTuple.html">HTuple</a> <a href="#DualQuaternion"><i>dualQuaternion</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#DualQuaternionNormalized"><i>dualQuaternionNormalized</i></a>)</code></p>
<p>
<code>static <a href="HDualQuaternion.html">HDualQuaternion[]</a> <a href="HDualQuaternion.html">HDualQuaternion</a>.<b>DualQuatNormalize</b>(<a href="HDualQuaternion.html">HDualQuaternion[]</a> <a href="#DualQuaternion"><i>dualQuaternion</i></a>)</code></p>
<p>
<code><a href="HDualQuaternion.html">HDualQuaternion</a> <a href="HDualQuaternion.html">HDualQuaternion</a>.<b>DualQuatNormalize</b>()</code></p>
</div>
<div data-if="python" style="display:none;">
<p>
<code>def <b>dual_quat_normalize</b>(<a href="#DualQuaternion"><i>dual_quaternion</i></a>: Sequence[float]) -&gt; Sequence[float]</code></p>
</div>
<h2 id="sec_description">描述</h2>
<p>该算子 <code><span data-if="hdevelop" style="display:inline">dual_quat_normalize</span><span data-if="c" style="display:none">dual_quat_normalize</span><span data-if="cpp" style="display:none">DualQuatNormalize</span><span data-if="com" style="display:none">DualQuatNormalize</span><span data-if="dotnet" style="display:none">DualQuatNormalize</span><span data-if="python" style="display:none">dual_quat_normalize</span></code> normalizes the input dual
quaternion <a href="#DualQuaternion"><i><code><span data-if="hdevelop" style="display:inline">DualQuaternion</span><span data-if="c" style="display:none">DualQuaternion</span><span data-if="cpp" style="display:none">DualQuaternion</span><span data-if="com" style="display:none">DualQuaternion</span><span data-if="dotnet" style="display:none">dualQuaternion</span><span data-if="python" style="display:none">dual_quaternion</span></code></i></a> and returns the normalized dual
quaternion, which is also called a unit dual quaternion,
in <a href="#DualQuaternionNormalized"><i><code><span data-if="hdevelop" style="display:inline">DualQuaternionNormalized</span><span data-if="c" style="display:none">DualQuaternionNormalized</span><span data-if="cpp" style="display:none">DualQuaternionNormalized</span><span data-if="com" style="display:none">DualQuaternionNormalized</span><span data-if="dotnet" style="display:none">dualQuaternionNormalized</span><span data-if="python" style="display:none">dual_quaternion_normalized</span></code></i></a>.
</p>
<p>For a brief introduction to dual quaternions, the used notation, and the
relationship between dual quaternions and screws, see
<code>“Solution Guide III-C - 3D Vision”</code>.
</p>
<p>The norm of a unit dual quaternion
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,81.087845 35.780792)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,104.460907 33.389740)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,132.799240 33.389740)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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</svg></span>
where <span title="4" style="vertical-align:-0.260911em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="0.606483em" height="0.884382em" viewBox="0 0 9.703720 14.150116">
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    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_113">
      <path style="fill-rule: evenodd;" d="M452.000000 -431.000000C452.000000 -435.000000,449.000000 -441.000000,442.000000 -441.000000C431.000000 -441.000000,391.000000 -401.000000,374.000000 -372.000000C352.000000 -426.000000,313.000000 -442.000000,281.000000 -442.000000C163.000000 -442.000000,40.000000 -294.000000,40.000000 -149.000000C40.000000 -51.000000,99.000000 11.000000,172.000000 11.000000C215.000000 11.000000,254.000000 -13.000000,290.000000 -49.000000C281.000000 -14.000000,248.000000 121.000000,245.000000 130.000000C237.000000 158.000000,229.000000 162.000000,173.000000 163.000000C160.000000 163.000000,150.000000 163.000000,150.000000 183.000000C150.000000 184.000000,150.000000 194.000000,163.000000 194.000000L263.000000 194.000000L195.000000 194.000000L230.000000 191.000000L263.000000 191.000000L297.000000 191.000000L333.000000 194.000000L366.000000 194.000000C371.000000 194.000000,384.000000 194.000000,384.000000 174.000000C384.000000 163.000000,374.000000 163.000000,358.000000 163.000000C310.000000 163.000000,310.000000 156.000000,310.000000 147.000000C310.000000 140.000000,312.000000 134.000000,314.000000 125.000000M175.000000 -11.000000C115.000000 -11.000000,111.000000 -88.000000,111.000000 -105.000000C111.000000 -153.000000,140.000000 -262.000000,157.000000 -304.000000C188.000000 -378.000000,240.000000 -420.000000,281.000000 -420.000000C346.000000 -420.000000,360.000000 -339.000000,360.000000 -332.000000C360.000000 -326.000000,305.000000 -107.000000,302.000000 -103.000000C287.000000 -75.000000,231.000000 -11.000000,175.000000 -11.000000"></path>
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,1.351334 9.975540)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.164124 9.975540)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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</svg></span> represents the conjugate quaternion of
<span title="5" style="vertical-align:-0.26474em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="0.606483em" height="0.767041em" viewBox="0 0 9.703720 12.272659">
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      <path style="fill-rule: evenodd;" d="M452.000000 -431.000000C452.000000 -435.000000,449.000000 -441.000000,442.000000 -441.000000C431.000000 -441.000000,391.000000 -401.000000,374.000000 -372.000000C352.000000 -426.000000,313.000000 -442.000000,281.000000 -442.000000C163.000000 -442.000000,40.000000 -294.000000,40.000000 -149.000000C40.000000 -51.000000,99.000000 11.000000,172.000000 11.000000C215.000000 11.000000,254.000000 -13.000000,290.000000 -49.000000C281.000000 -14.000000,248.000000 121.000000,245.000000 130.000000C237.000000 158.000000,229.000000 162.000000,173.000000 163.000000C160.000000 163.000000,150.000000 163.000000,150.000000 183.000000C150.000000 184.000000,150.000000 194.000000,163.000000 194.000000L263.000000 194.000000L195.000000 194.000000L230.000000 191.000000L263.000000 191.000000L297.000000 191.000000L333.000000 194.000000L366.000000 194.000000C371.000000 194.000000,384.000000 194.000000,384.000000 174.000000C384.000000 163.000000,374.000000 163.000000,358.000000 163.000000C310.000000 163.000000,310.000000 156.000000,310.000000 147.000000C310.000000 140.000000,312.000000 134.000000,314.000000 125.000000M175.000000 -11.000000C115.000000 -11.000000,111.000000 -88.000000,111.000000 -105.000000C111.000000 -153.000000,140.000000 -262.000000,157.000000 -304.000000C188.000000 -378.000000,240.000000 -420.000000,281.000000 -420.000000C346.000000 -420.000000,360.000000 -339.000000,360.000000 -332.000000C360.000000 -326.000000,305.000000 -107.000000,302.000000 -103.000000C287.000000 -75.000000,231.000000 -11.000000,175.000000 -11.000000"></path>
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.164124 8.036819)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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</svg></span> (see <a href="quat_conjugate.html"><code><span data-if="hdevelop" style="display:inline">quat_conjugate</span><span data-if="c" style="display:none">quat_conjugate</span><span data-if="cpp" style="display:none">QuatConjugate</span><span data-if="com" style="display:none">QuatConjugate</span><span data-if="dotnet" style="display:none">QuatConjugate</span><span data-if="python" style="display:none">quat_conjugate</span></code></a>).
</p>
<p>A 3D rigid transformation can be represented by a unit dual quaternion.
</p>
<h2 id="sec_attention">注意</h2>
<p>If the norm of the real part of <a href="#DualQuaternion"><i><code><span data-if="hdevelop" style="display:inline">DualQuaternion</span><span data-if="c" style="display:none">DualQuaternion</span><span data-if="cpp" style="display:none">DualQuaternion</span><span data-if="com" style="display:none">DualQuaternion</span><span data-if="dotnet" style="display:none">dualQuaternion</span><span data-if="python" style="display:none">dual_quaternion</span></code></i></a> is 0,
<code><span data-if="hdevelop" style="display:inline">dual_quat_normalize</span><span data-if="c" style="display:none">dual_quat_normalize</span><span data-if="cpp" style="display:none">DualQuatNormalize</span><span data-if="com" style="display:none">DualQuatNormalize</span><span data-if="dotnet" style="display:none">DualQuatNormalize</span><span data-if="python" style="display:none">dual_quat_normalize</span></code> returns the error code 9310 (H_ERR_DQ_ZERO_NORM)
because in this case no normalization is possible.</p>
<h2 id="sec_execution">运行信息</h2>
<ul>
  <li>多线程类型:可重入(与非独占操作符并行运行)。</li>
<li>多线程作用域:全局(可以从任何线程调用)。</li>
  <li>未经并行化处理。</li>
</ul>
<h2 id="sec_parameters">参数表</h2>
  <div class="par">
<div class="parhead">
<span id="DualQuaternion" class="parname"><b><code><span data-if="hdevelop" style="display:inline">DualQuaternion</span><span data-if="c" style="display:none">DualQuaternion</span><span data-if="cpp" style="display:none">DualQuaternion</span><span data-if="com" style="display:none">DualQuaternion</span><span data-if="dotnet" style="display:none">dualQuaternion</span><span data-if="python" style="display:none">dual_quaternion</span></code></b> (input_control)  </span><span>dual_quaternion(-array) <code>→</code> <span data-if="dotnet" style="display:none"><a href="HDualQuaternion.html">HDualQuaternion</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[float]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Unit dual quaternion.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="DualQuaternionNormalized" class="parname"><b><code><span data-if="hdevelop" style="display:inline">DualQuaternionNormalized</span><span data-if="c" style="display:none">DualQuaternionNormalized</span><span data-if="cpp" style="display:none">DualQuaternionNormalized</span><span data-if="com" style="display:none">DualQuaternionNormalized</span><span data-if="dotnet" style="display:none">dualQuaternionNormalized</span><span data-if="python" style="display:none">dual_quaternion_normalized</span></code></b> (output_control)  </span><span>dual_quaternion(-array) <code>→</code> <span data-if="dotnet" style="display:none"><a href="HDualQuaternion.html">HDualQuaternion</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[float]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Normalized dual quaternion.</p>
</div>
<h2 id="sec_predecessors">可能的前置算子</h2>
<p>
<code><a href="dual_quat_compose.html"><span data-if="hdevelop" style="display:inline">dual_quat_compose</span><span data-if="c" style="display:none">dual_quat_compose</span><span data-if="cpp" style="display:none">DualQuatCompose</span><span data-if="com" style="display:none">DualQuatCompose</span><span data-if="dotnet" style="display:none">DualQuatCompose</span><span data-if="python" style="display:none">dual_quat_compose</span></a></code>
</p>
<h2 id="sec_successors">可能的后置算子</h2>
<p>
<code><a href="dual_quat_to_hom_mat3d.html"><span data-if="hdevelop" style="display:inline">dual_quat_to_hom_mat3d</span><span data-if="c" style="display:none">dual_quat_to_hom_mat3d</span><span data-if="cpp" style="display:none">DualQuatToHomMat3d</span><span data-if="com" style="display:none">DualQuatToHomMat3d</span><span data-if="dotnet" style="display:none">DualQuatToHomMat3d</span><span data-if="python" style="display:none">dual_quat_to_hom_mat3d</span></a></code>
</p>
<h2 id="sec_see">参考其它</h2>
<p>
<code><a href="dual_quat_interpolate.html"><span data-if="hdevelop" style="display:inline">dual_quat_interpolate</span><span data-if="c" style="display:none">dual_quat_interpolate</span><span data-if="cpp" style="display:none">DualQuatInterpolate</span><span data-if="com" style="display:none">DualQuatInterpolate</span><span data-if="dotnet" style="display:none">DualQuatInterpolate</span><span data-if="python" style="display:none">dual_quat_interpolate</span></a></code>, 
<code><a href="pose_to_dual_quat.html"><span data-if="hdevelop" style="display:inline">pose_to_dual_quat</span><span data-if="c" style="display:none">pose_to_dual_quat</span><span data-if="cpp" style="display:none">PoseToDualQuat</span><span data-if="com" style="display:none">PoseToDualQuat</span><span data-if="dotnet" style="display:none">PoseToDualQuat</span><span data-if="python" style="display:none">pose_to_dual_quat</span></a></code>, 
<code><a href="screw_to_dual_quat.html"><span data-if="hdevelop" style="display:inline">screw_to_dual_quat</span><span data-if="c" style="display:none">screw_to_dual_quat</span><span data-if="cpp" style="display:none">ScrewToDualQuat</span><span data-if="com" style="display:none">ScrewToDualQuat</span><span data-if="dotnet" style="display:none">ScrewToDualQuat</span><span data-if="python" style="display:none">screw_to_dual_quat</span></a></code>, 
<code><a href="dual_quat_to_screw.html"><span data-if="hdevelop" style="display:inline">dual_quat_to_screw</span><span data-if="c" style="display:none">dual_quat_to_screw</span><span data-if="cpp" style="display:none">DualQuatToScrew</span><span data-if="com" style="display:none">DualQuatToScrew</span><span data-if="dotnet" style="display:none">DualQuatToScrew</span><span data-if="python" style="display:none">dual_quat_to_screw</span></a></code>, 
<code><a href="dual_quat_to_pose.html"><span data-if="hdevelop" style="display:inline">dual_quat_to_pose</span><span data-if="c" style="display:none">dual_quat_to_pose</span><span data-if="cpp" style="display:none">DualQuatToPose</span><span data-if="com" style="display:none">DualQuatToPose</span><span data-if="dotnet" style="display:none">DualQuatToPose</span><span data-if="python" style="display:none">dual_quat_to_pose</span></a></code>, 
<code><a href="dual_quat_conjugate.html"><span data-if="hdevelop" style="display:inline">dual_quat_conjugate</span><span data-if="c" style="display:none">dual_quat_conjugate</span><span data-if="cpp" style="display:none">DualQuatConjugate</span><span data-if="com" style="display:none">DualQuatConjugate</span><span data-if="dotnet" style="display:none">DualQuatConjugate</span><span data-if="python" style="display:none">dual_quat_conjugate</span></a></code>, 
<code><a href="serialize_dual_quat.html"><span data-if="hdevelop" style="display:inline">serialize_dual_quat</span><span data-if="c" style="display:none">serialize_dual_quat</span><span data-if="cpp" style="display:none">SerializeDualQuat</span><span data-if="com" style="display:none">SerializeDualQuat</span><span data-if="dotnet" style="display:none">SerializeDualQuat</span><span data-if="python" style="display:none">serialize_dual_quat</span></a></code>, 
<code><a href="deserialize_dual_quat.html"><span data-if="hdevelop" style="display:inline">deserialize_dual_quat</span><span data-if="c" style="display:none">deserialize_dual_quat</span><span data-if="cpp" style="display:none">DeserializeDualQuat</span><span data-if="com" style="display:none">DeserializeDualQuat</span><span data-if="dotnet" style="display:none">DeserializeDualQuat</span><span data-if="python" style="display:none">deserialize_dual_quat</span></a></code>, 
<code><a href="dual_quat_trans_line_3d.html"><span data-if="hdevelop" style="display:inline">dual_quat_trans_line_3d</span><span data-if="c" style="display:none">dual_quat_trans_line_3d</span><span data-if="cpp" style="display:none">DualQuatTransLine3d</span><span data-if="com" style="display:none">DualQuatTransLine3d</span><span data-if="dotnet" style="display:none">DualQuatTransLine3d</span><span data-if="python" style="display:none">dual_quat_trans_line_3d</span></a></code>, 
<code><a href="dual_quat_trans_point_3d.html"><span data-if="hdevelop" style="display:inline">dual_quat_trans_point_3d</span><span data-if="c" style="display:none">dual_quat_trans_point_3d</span><span data-if="cpp" style="display:none">DualQuatTransPoint3d</span><span data-if="com" style="display:none">DualQuatTransPoint3d</span><span data-if="dotnet" style="display:none">DualQuatTransPoint3d</span><span data-if="python" style="display:none">dual_quat_trans_point_3d</span></a></code>, 
<code><a href="quat_normalize.html"><span data-if="hdevelop" style="display:inline">quat_normalize</span><span data-if="c" style="display:none">quat_normalize</span><span data-if="cpp" style="display:none">QuatNormalize</span><span data-if="com" style="display:none">QuatNormalize</span><span data-if="dotnet" style="display:none">QuatNormalize</span><span data-if="python" style="display:none">quat_normalize</span></a></code>
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<h2 id="sec_module">模块</h2>
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Foundation</p>
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